Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2023/6651286/figures/6651286.fig.0013a.svgz" name="6651286.fig.0013a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Relay-based autotuned control system</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2023/6651286/figures/6651286.fig.0013b.svgz" name="6651286.fig.0013b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Model-based control system</td></tr></table>

<div>Comparison of the control performance.</div>

International Journal of Aerospace Engineering

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Figure 13

Figure 13: Cascaded Control System Design for Quadrotor UAV through Relay with Embedded Integrator-Based Automatic Tuning Approach 